CN104868798B - Motor retarding method and its applicable motor-driven system - Google Patents
Motor retarding method and its applicable motor-driven system Download PDFInfo
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- CN104868798B CN104868798B CN201410295150.XA CN201410295150A CN104868798B CN 104868798 B CN104868798 B CN 104868798B CN 201410295150 A CN201410295150 A CN 201410295150A CN 104868798 B CN104868798 B CN 104868798B
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Abstract
The control method that the application is slowed down on a kind of motor, is applied to motor-driven system, and motor-driven system is used to export the drive signal with magnitude of voltage, frequency values and current value and control motor to operate, and control method is comprised the steps of：A () is when motor reduces speed now according to deceleration time set value calculation magnitude of voltage and the fall off rate of frequency values；B () compares current value and setting electric current benchmark, whereby output voltage compensation amount come adjust magnitude of voltage rise, current value is set to be lifted towards setting electric current benchmark, and output frequency compensation rate control frequency values, it is promoted to magnitude of voltage and is sufficient for current value and rises to equal to setting electric current benchmark and maintain；And (c), when amount of frequency compensation and voltage compensation quantity cannot make current value be maintained at setting electric current benchmark, voltage compensation quantity is decremented to zero, the rotating speed of motor is dropped to setting speed.
Description
Technical field
The application is down to setting speed and (includes on a kind of motor retarding method, espespecially a kind of rotating speed for reducing motor
Stop) when the motor retarding method and its applicable motor-driven system of time that are spent.
Background technology
Fig. 1 is referred to, it is the electrical block diagram of the motor-driven system of prior art.As shown in figure 1, existing skill
The motor-driven system 1 of art is electrically connected with an AC power 2 and a motor 3, is used to receive the input that AC power 2 is provided
Voltage, and input voltage is changed, to export the drive signal comprising output voltage, output current and output frequency
Control motor 3 is operated, and wherein motor-driven system 1 includes motor driver 4 and brake gear 5, and motor driver 4 is used to receive
The input voltage that AC power 2 is provided, and input voltage is changed, operated with output drive signal control motor 3, and
Motor driver 4 changes motor driver 4 using the technology of pulse width modulation (Pulse Width Modulation, PWM)
The amplitude and output frequency of the output voltage of the drive signal that interior an included transverter is exported, to control turning for motor 3
Speed.The rotating speed of motor 3, the input voltage that now AC power 2 is provided can be accelerated horse is will transmit through when output frequency is improved
Motor 3 being changed and being passed to up to driver 4, required kinetic energy is accelerated to provide motor 3, horse can be reduced when output frequency is reduced
Up to 3 rotating speeds, now the kinetic energy of motor 3 can be converted into electric energy such as the mode of generator, and be fed back to motor driver 4 or conversion
Consumed into heat energy.
Brake gear 5 is then used to the energy conversion for assisting motor 3 to carry out moderating process, that is, is digested when motor 3 slows down
Motor 3 is fed back to the electric energy of motor driver 4.Brake gear 5 can be a brake resistor or a brake energy feedback device
(Regenerator).Wherein, feedback electric energy when acting as slowing down in motor 3 of brake resistor is converted into thermal energy consumption and falls, and
Feedback electric energy when brake energy feedback device can then slow down motor is converted into AC energy and is fed back to AC power 2 once again.
However, when feedback electric energy when motor is slowed down with brake resistor is converted into thermal energy consumption, except brake resistor sheet
Outside the setup cost of body, the risk of industry security accident can be probably increased in some environments.For example there are being a large amount of combustibles
In the environment of product, if brake resistor produces heat, the risk that fire occurs is might have.If in addition, install brake energy additional returning
Also setup cost can be dramatically increased during feedback device, and in the case where motor needs quick stopping situation, for example, contingency occurs
When needing emergent stopping, if feedback electric energy when motor slows down easily causes motor drive not by appropriate conversion or consumption
Dynamic device 4 works as machine because protection mechanism starts, and the failure of motor driver 4 can be even caused when serious；But the horse of prior art
If the time that motor 3 is decelerated to stopping by rated speed will be caused significantly without above-mentioned brake gear 5 is used up to drive system 1
Elongate, for example, need 40 seconds.
In addition, in the technology of prior art, separately proposing a kind of stage reduction output frequency to reach motor deceleration
Method, it has effectively in the case of without any external brake gear can reach the quick function of stopping motor.But the party
Specification of the method with motor in itself is relevant with structure, and in other words, the operating point of frequency will be according to motor or total system line configuring
Difference and difference, therefore, the frequency value of stage reduction is not easy to determine.If in addition, frequency reduction amount sets
Mistake, then can make the slowing down power(SDP) of the method have a greatly reduced quality.
Therefore, how to develop it is a kind of improve above-mentioned missing and may achieve motor quick deceleration motor retarding method and
Its applicable motor-driven system, actually correlative technology field person problem in the urgent need to address at present.
The content of the invention
The purpose of the application is to provide a kind of motor retarding method and its applicable motor-driven system, and it subtracts in motor
During speed, offset voltage and compensation frequency are exported according to a current settings benchmark by deceleration energy controller, to change horse
The magnitude of voltage and frequency values of the drive signal exported up to driver, make the rotating speed of motor relatively rapid to drop to and set whereby
Constant speed degree, while the ability of the motor-driven system consumption motor recharge electric energy produced when slowing down is lifted, it is existing to solve
The motor-driven system of technology has high cost, is easy to when machine and damage and the defect such as control motor deceleration efficiency is not good.
According to the conception of the application, the application provides the control method that a kind of motor slows down, is applied to motor-driven system,
Wherein motor-driven system system operates to drive motor, and comprising motor driver, current sensor and deceleration energy control
Device processed, electric capacity of voltage regulation of the motor driver comprising transverter and the input for being electrically connected to transverter, transverter is used to export
Drive signal with magnitude of voltage, frequency values and current value and control motor to operate, motor method for slowing-down control is comprising following
Step：(a) when motor reduces speed now according to deceleration time set value calculation drive signal magnitude of voltage and frequency values decline
Speed；B () compares the setting electric current benchmark that the current value that is detected by current sensor and deceleration energy controller are received,
Make deceleration energy controller according to comparative result output voltage compensation amount, risen with adjusting magnitude of voltage by voltage compensation quantity, make
The increase of current value corresponding voltage value and towards the lifting of setting electric current benchmark, and deceleration energy controller also output frequency compensation rate control
Frequency values processed, the DC voltage on electric capacity of voltage regulation is adjusted with the electric energy by motor recharge to motor-driven system, makes voltage
Value is promoted to and is sufficient for current value and rises to equal to setting electric current benchmark and maintain；And (c) is when amount of frequency compensation and voltage benefit
The amount of repaying cannot be such that current value is maintained at during equal to setting electric current benchmark, and deceleration energy controller system is decremented to voltage compensation quantity
Zero, so that the rotating speed of motor drops to setting speed.
According to the conception of the application, the application separately provides a kind of motor-driven system, is used to control motor to operate, and motor drives
Dynamic system is included：Transverter, it is electrically connected with motor, drive motor operation, wherein drive signal to output drive signal
With magnitude of voltage, current value and frequency values；Electric capacity of voltage regulation, is electrically connected to the input of transverter；Current sensor, itself and the change of current
The output end of device is electrically connected and senses current value, and correspondence output electric current measure signal；Master controller, it is electrically connected with transverter
Connect, to output control signal control transverter operation；And deceleration energy controller, itself and current sensor and master controller
Electrical connection, to compare setting electric current benchmark and current detection signal when main controller controls motor reduces speed now, with correspondence
Ground output voltage compensation amount makes master controller accordingly control the magnitude of voltage of transverter to rise, with band streaming current to master controller
Value towards the lifting of setting electric current benchmark, and deceleration energy controller also when motor reduces speed now output frequency compensation rate to main control
Device, makes master controller accordingly control transverter to change frequency values, with the electricity by changing motor recharge to motor-driven system
Can and adjust the DC voltage on electric capacity of voltage regulation, rise to magnitude of voltage and order about current value and reach setting electric current benchmark and maintain；
Wherein, when amount of frequency compensation and voltage compensation quantity cannot make current value be maintained at setting electric current benchmark, voltage compensation quantity system passs
Zero is reduced to, the rotating speed of motor is dropped to setting speed.
Brief description of the drawings
Fig. 1 is the electrical block diagram of the motor-driven system of prior art.
Fig. 2 is the electrical block diagram of the motor-driven system of the application preferred embodiment.
Fig. 3 is the operational flowchart of the motor-driven system shown in Fig. 2.
Fig. 4 systems are that the motor-driven system shown in Fig. 2 is the specified electricity set by motor driver in setting electric current benchmark
Flow valuve 50% when voltage and electric current timing diagram.
Fig. 5 systems shown in Fig. 2 are that motor-driven system shown in Fig. 2 is motor driver institute in setting electric current benchmark
The load current value of setting 100% when voltage and electric current timing diagram.
Specific embodiment
Embodying the application feature will in detail describe with some exemplary embodiments of advantage in the explanation of back segment.It should be understood that
It is that the application can have various changes in different implementation methods, it does not all depart from scope of the present application, and therein
Illustrate and accompanying drawing is illustrated as in itself, not for limitation the application.
Fig. 2 is referred to, it is the electrical block diagram of the motor-driven system of the application preferred embodiment.Such as Fig. 2 institutes
Show, the AC power of motor-driven system 11 and of the present embodiment, such as three-phase alternating-current supply 15, an and motor 16 is electrically connected
Connect, be used to receive the input voltage V that three-phase alternating-current supply 15 is providedac, and by input voltage VacChanged, to export one
Drive signal VdControl motor 16 is operated.Wherein motor 16 can be but be not limited to three-phase induction motor.
Motor-driven system 11 includes motor driver 110, current sensor 12, master controller 13 and deceleration energy hole
Device 14.The input of motor driver 110 is electrically connected with three-phase alternating-current supply 15, the output end and motor of motor driver 110
16 electrical connections, motor driver 110 is used to receive the input voltage V of three-phase alternating-current supply 15acAnd changed, with output driving
Signal VdDrive motor 16 is operated.Motor driver 110 also includes rectification circuit 111, electric capacity of voltage regulation C and transverter 113, its
The input of middle rectification circuit 111 receives input voltage Vac, the output end of rectification circuit 111 electrically connects with electric capacity of voltage regulation C, is used to
By input voltage VacChange and export instantaneous DC voltage, and electric capacity of voltage regulation C is charged, make the electric capacity of voltage regulation C can be to saturation
And maintain to provide galvanic current pressure Vc.The input of transverter 113 is electrically connected with electric capacity of voltage regulation C, the output of transverter 113
End electrically connects with motor 16, and transverter 113 is used to the DC voltage V on electric capacity of voltage regulation CcChange and output drive signal VdCome
Drive motor 16 is operated.
In the above-described embodiments, drive signal VdMagnitude of voltage v, current value i and frequency values f are actually included, and can be passed through
Change drive signal VdMagnitude of voltage v and frequency values f and control the rotating speed of motor 16, such as when motor 16 is intended to be slowed down,
Can be by reducing drive signal VdFrequency values f reduce the rotating speed of motor 16, now the kinetic energy of motor 16 can be such as generator
Mode is converted into electric energy, and by electric energy recharge to motor-driven system 11 so that the DC voltage V on electric capacity of voltage regulation CcElectricity
Pressure value rises, and is converted into thermal energy consumption by circuit and circuit unit in motor-driven system 11.Additionally, working as motor 16
When being slowed down, if drive signal VdFrequency values f fall off rate it is faster, that is, the descending slope of frequency values f is bigger, then may be used
The amplitude for making motor 16 slow down is bigger, and now the recharge of motor 16 is also bigger to the electric energy of motor-driven system 11.Furthermore, work as motor
16 when being slowed down, if drive signal VdMagnitude of voltage v it is bigger, current value i then corresponding voltage value v and it is bigger, and as current value i
When bigger, the ability that motor-driven system 11 consumes the recharge electric energy produced when slowing down of motor 16 just corresponds to lifting.
The input of current sensor 12 is electrically connected with the output end of motor driver 110, the output of current sensor 12
End electrically connects with master controller 13 and deceleration energy controller 14, and current sensor 12 is used to detect current value i, and according to detection
Result correspondence output electric current measure signal SiTo master controller 13 and deceleration energy controller 14.
Master controller 13 is electrically connected with motor driver 110 and deceleration energy controller 14, is used to export a control signal
SaTo transverter 113, to control the multiple transistors (not shown) in transverter 113 to be cut in the way of pulse width modulation
Change, make the output drive signal V of transverter 113d, and during motor 16 accelerates or maintains speed, master controller 13 also according to
According to current detection signal SiAnd control drive signal VdCurrent value i be maintained at more than a load current value of setting.In addition, working as
When motor 16 is intended to be slowed down, master controller 13 also receives a deceleration time setting value Tdec, wherein deceleration time setting value Tdec
Motor 16 set by user is decelerated to a setting speed, and such as zero, the time for being spent, and the then foundation of master controller 13
Deceleration time setting value TdecAnd adjust control signal Sa, with by control signal SaAnd control the driving that transverter 113 exported
Signal VdMagnitude of voltage v and frequency values f fall off rate according to deceleration time setting value TdecAnd adjust, that is, during according to slowing down
Between setting value TdecAnd adjust the descending slope of magnitude of voltage v and frequency values f.
Deceleration energy controller 14 is electrically connected with current sensor 12 and master controller 13, and when motor 16 reduces speed now
Receive a setting electric current benchmark Ilevel, wherein setting electric current benchmark IlevelSet by user, and may be set to motor driving
The percent value of the load current value set by device 110, for example, be set as 50% or 100% of load current value etc., deceleration energy
Amount controller 14 is used to compare setting electric current benchmark I when motor 16 reduces speed nowlevelAnd current detection signal Si, with accordingly
A voltage compensation quantity △ V are exported to master controller 13, makes master controller 13 according to voltage compensation quantity △ V adjustment control signals Sa,
With by control signal SaThe drive signal V that control transverter 113 is exporteddMagnitude of voltage v rise, to drive current value i towards setting
Determine current reference IlevelLifting, wherein when motor 16 reduces speed now, if current value i is not up to setting electric current benchmark Ilevel, subtract
The control voltage compensation rate △ V of fast energy controller 14 gradually increase.
Additionally, during motor 16 reduces speed now, due to the drive signal V of the output of transverter 113dMagnitude of voltage v
Rising degree actually depends on the DC voltage V on electric capacity of voltage regulation CcMagnitude of voltage size, therefore in order that magnitude of voltage v can go up
Rise to and allow current value i to be promoted to equal to setting electric current benchmark IlevelAnd maintain, in the present embodiment, deceleration energy controller 14 is also
An amount of frequency compensation △ f are exported, makes master controller 13 according to amount of frequency compensation △ f adjustment control signals Sa, with by controlling to believe
Number SaThe drive signal V that control transverter 113 is exporteddFrequency values f, to change the recharge of motor 16 to motor-driven system 11
Electric energy, the DC voltage V of electric capacity of voltage regulation C is adjusted wherebyC, make the transverter 113 can be according to voltage compensation quantity △ V by magnitude of voltage
V is promoted to and is sufficient for current value i equal to setting electric current benchmark IlevelVoltage reference, wherein when current value i be not up to setting electricity
Stream benchmark IlevelWhen, amount of frequency compensation △ f systems decline and make drive signal VdThe fall off rate of frequency values f accelerate, in other words,
Even if the descending slope of frequency values f becomes big, however the descending slope (speed) of frequency values f still less than or equal to master controller 13 according to
According to deceleration time setting value TdecThe descending slope (speed) of the frequency values f for being adjusted.
In the above-described embodiments, when motor 16 reduces speed now, if current value i has reached setting electric current benchmark IlevelWhen,
The control voltage compensation rate △ V of deceleration energy controller 14 stop increasing.In addition, when current value i has reached setting electric current benchmark
IlevelWhen, the control amount of frequency compensation △ f liftings of deceleration energy controller 14, so that drive signal VdFrequency values f lower reduction of speed
Rate slows down, even if also the descending slope of frequency values f diminishes, current value i is maintained at setting electric current benchmark I wherebylevel。
In certain embodiments, deceleration energy controller 14 also includes current controller 142 and frequency compensator 143, its
Middle current controller 142 is electrically connected with current sensor 12, and setting electric current benchmark I is received when motor 16 reduces speed nowlevel,
When motor 16 reduces speed now, to compare setting electric current benchmark IlevelAnd current detection signal Si, accordingly to export electricity
Pressure compensation rate △ V are supplied to master controller 13, are then electrically connected with master controller 13 as frequency compensator 143, in motor
16 output frequency compensation rate △ f when reducing speed now are to master controller 13.
To exemplarily illustrate the actual operating process of motor-driven system 11 of the application below.Refer to Fig. 3 and
Fig. 4 simultaneously coordinates Fig. 2, and wherein Fig. 3 is the operational flowchart of the motor-driven system shown in Fig. 2, and Fig. 4 is that the motor shown in Fig. 2 drives
Voltage and electric current timing diagram of the dynamic system in 50% that setting electric current benchmark is the load current value set by motor driver.
As shown in the figure of the 2nd, 3 and 4, first, step S1 is performed, that is, start to subtract when motor-driven system 11 receives a deceleration instruction
Speed, such as in the initial time point t shown in Fig. 40When, master controller 13 is according to deceleration time setting value TdecAnd control motor to drive
The drive signal V that the transverter 113 of system 11 is exporteddMagnitude of voltage v and frequency values f fall off rate.
Then, such as step S2, the current controller 142 of deceleration energy controller 14 compares setting electric current benchmark IlevelAnd
Current detection signal SiAnd output voltage compensation amount △ V, make master controller 13 according to voltage compensation quantity △ V and current detection signal
SiAnd adjust control signal Sa, to adjust magnitude of voltage v risings, make current value i corresponding voltage values v increase and towards setting electric current benchmark
IlevelLifting.And frequency compensator 143 goes back output frequency compensation rate △ f, master controller 13 is set to be adjusted according to amount of frequency compensation △ f
Control signal Sa, and then the drive signal V that control transverter 113 is exporteddFrequency values f, with by changing the recharge of motor 16 extremely
The electric energy of motor-driven system 11 adjusts the DC voltage V of electric capacity of voltage regulation Cc, magnitude of voltage v is promoted to and be sufficient for current value
I is risen to equal to setting electric current benchmark IlevelAnd maintain, that is, initial time point t as shown in Figure 40To the first time point t1.Wherein
In the present embodiment, setting electric current benchmark Ilevel50% of load current value set by motor driver 110.
In step s 2, when current controller 142 orders about the output end of transverter 113 by output voltage compensation amount △ V
Magnitude of voltage v rise, to drive current value i towards setting electric current benchmark IlevelDuring lifting, the now consumption of motor-driven system 11 horse
Lifting is just corresponded to up to 16 recharges to the ability of the electric energy of motor-driven system 11, yet with the DC voltage V of electric capacity of voltage regulation Cc
Magnitude of voltage will decline to the electric energy of motor-driven system 11 because motor-driven system 11 consumes the recharge of motor 16, and due to changing
The degree for flowing the magnitude of voltage v risings of the output end of device 113 is actually depending on the DC voltage V on electric capacity of voltage regulation CcVoltage
Value, therefore it is enough to make current value i to rise and be equal to setting electric current benchmark I in order that magnitude of voltage v is promoted tolevel, therefore frequency compensation
Device 143 is output frequency compensation rate △ f controls frequency values f, with the electricity by changing the recharge motor-driven system 11 of motor 16
Can size adjust the DC voltage V of electric capacity of voltage regulation Cc, magnitude of voltage v is promoted to and be sufficient for current value i and rise to equal to setting
Determine current reference IlevelAnd maintain.
Additionally, in step s 2, setting electric current benchmark I is reached when current value i does not rise tolevelWhen, current controller 142
Control voltage compensation rate △ V gradually increase, and frequency compensator 143 then controls amount of frequency compensation △ f also to decline, and makes drive signal
VdThe fall off rate of frequency values f accelerate, in other words, though the descending slope of frequency values f become it is big (i.e. as the 4th figure it is initial when
Point t0To the first time point t1), but the descending slope (speed) of frequency values f still less than or equal to master controller 13 according to slow down when
Between setting value TdecThe descending slope (speed) of the frequency values f for being adjusted.Conversely, when current value i has reached setting electric current benchmark
IlevelWhen, the control voltage compensation rate △ V of current controller 142 stop increasing, and the control amount of frequency compensation of frequency compensator 143 △
F is lifted, so that drive signal VdThe fall off rate of frequency values f slow down, even if also the descending slope of frequency values f diminishes (i.e. such as
First time point t of the 4th figure1To the second time point t2)。
After step S2 terminates, then, step S3 is performed, that is, when amount of frequency compensation △ f and voltage compensation quantity △ V cannot
Current value i is set to be maintained at equal to setting electric current benchmark IlevelWhen, be decremented to for control voltage compensation rate △ V by current controller 142
Zero, now the rotating speed of motor 16 will drop to a setting speed, such as the second time point t shown in Fig. 42To the 3rd time point t3(
Setting speed is zero in this embodiment, i.e., motor 16 shuts down).
Additionally, in step s3, being equal to when amount of frequency compensation △ f and voltage compensation quantity △ V cannot be maintained at current value i
Setting electric current benchmark IlevelWhen, now, the control of frequency compensator 143 amount of frequency compensation △ f just decline again, make drive signal Vd
The fall off rate of frequency values f accelerate, even if also the descending slope of frequency values f becomes big, but the descending slope of frequency values f (speed
Rate) still less than or equal to master controller 13 according to deceleration time setting value TdecDescending slope (the speed of the frequency values f for being adjusted
Rate) so that the recharge of motor 16 makes the DC voltage V of electric capacity of voltage regulation C to the electric energy lifting of motor-driven system 11cLifting, borrows
This makes current value i rise to setting electric current benchmark I as far as possiblelevel, such as the second time point t shown in Fig. 42To the 3rd time point t3。
In the above-described embodiments, although when motor 16 reduces speed now, the adjustment of motor-driven system 11 magnitude of voltage v and frequency
The fall off rate of value f meets the deceleration time setting value T set by userdecDecline to correspond to, that is, dotted line as shown in Figure 4,
But the fall off rate of magnitude of voltage v and frequency values f is actually to depend on deceleration energy controller 14 according to setting electric current benchmark
IlevelExport voltage compensation quantity △ V and amount of frequency compensation △ f on the energy dissipation capacity of motor-driven system 11, therefore motor 16
Being decelerated to actual deceleration time that setting speed spent will be with respect to being longer than or equal to deceleration time setting value Tdec, i.e., such as Fig. 4 institutes
Show, deceleration time setting value TdecIt is initial time point t0To default time point t1', and the actual deceleration time is then initial time point t0To
Three time point t3。
In the above-described embodiments, setting electric current benchmark IlevelMay be set to the rated current set by motor driver 110
The 50% of value, right setting electric current benchmark IlevelSetting value be not limited thereto.Refer to Fig. 5 and coordinate Fig. 2, wherein Fig. 5 is
Motor-driven system shown in Fig. 2 is in 100% that setting electric current benchmark is the load current value set by motor driver 110
Voltage and electric current timing diagram.As shown in figure 5, in certain embodiments, setting electric current benchmark IlevelAlso can be motor driver
100% of load current value set by 110, and work as setting electric current benchmark IlevelIt is specified set by motor driver 110
Current value 100% when, motor-driven system 11 consume motor 16 when slowing down recharge to motor-driven system 11 electric energy
Ability is relative to be better than setting electric current benchmark Ilevel50% of load current value set by motor driver, that is, represent setting electricity
The actual deceleration time of the motor 16 when stream benchmark is 100% of the load current value set by motor driver is (as shown in Figure 5
Initial time point t0~the three time point t3) load current value of the setting electric current benchmark set by motor driver can be shorter than
Actual deceleration time (the initial time point t as shown in Figure 4 of the motor 16 when 50%0~the three time point t3), therefore setting electric current benchmark
IlevelSetting is higher, will cause that motor-driven system 11 controls the ability that motor 16 slows down better.
Referring again to Fig. 5 and coordinate Fig. 2, in the above-described embodiments, receive a deceleration instruction when motor-driven system 11 and
Reduce speed now, such as in the initial time point t of Fig. 50When, master controller 13 is according to deceleration time setting value TdecAnd control transverter
The 113 drive signal V for being exporteddMagnitude of voltage v and frequency values f fall off rate.
Then, current controller 142 is to compare setting electric current benchmark IlevelAnd current detection signal SiAnd output voltage
Compensation rate △ V, make master controller 13 according to voltage compensation quantity △ V and current detection signal SiAnd adjust control signal Sa, to adjust
Magnitude of voltage v rises, make current value i corresponding voltage values v increase and towards setting electric current benchmark IlevelLifting, while frequency compensator
143 go back output frequency compensation rate △ f, make master controller 13 according to amount of frequency compensation △ f adjustment control signals Sa, and then control to change
The drive signal V that stream device 113 is exporteddFrequency values f, with big by changing the electric energy of the recharge motor-driven system 11 of motor 16
The small DC voltage V to adjust electric capacity of voltage regulation Cc, make magnitude of voltage v can be promoted to be sufficient for current value i rise to equal to setting electricity
Stream benchmark IlevelAnd maintain, that is, initial time point t as shown in Figure 50To the first time point t1.And initial time point t as shown in Figure 50
To the first time point t1, due to the present embodiment setting electric current benchmark IlevelSystem is relatively higher than the setting electric current benchmark of the embodiment of Fig. 4
Ilevel, so that the voltage compensation quantity △ V, magnitude of voltage v and the DC voltage V of electric capacity of voltage regulation C of the present embodimentcIn in the unit interval
Variable quantity be relatively higher than the embodiment of Fig. 4 in initial time point t0To the first time point t1Voltage compensation quantity △ V, magnitude of voltage v and steady
Voltage capacitance C is in the variable quantity in the unit interval.
When current value i has been maintained equal to setting electric current benchmark IlevelWhen, such as the first time point t shown in Fig. 51During to second
Point t2, now the DC voltage V of electric capacity of voltage regulation CcPower consumption may be because of setting electric current benchmark IlevelIt is of a relatively high, cause current value
I is unable to maintain that in setting electric current benchmark Ilevel, such as in the specific time point t shown in Fig. 5r, so when must reduce frequency benefit
The amount of repaying △ f, to cause that frequency values f descending slopes increase, so that current value i can be continuously maintained at setting electric current benchmark Ilevel, so
And the descending slope of frequency values f still less than or equal to master controller 13 according to deceleration time setting value TdecThe frequency values f for being adjusted
Descending slope.
Finally, when amount of frequency compensation △ f and voltage compensation quantity △ V cannot be such that current value is maintained at equal to setting electric current benchmark
IlevelWhen, control voltage compensation rate △ V are decremented to zero by current controller 142, and now the rotating speed of motor 16 will drop to one
Setting speed, such as the second time point t shown in Fig. 52To the 3rd time point t3。
Compared to the motor-driven system of prior art, because the motor-driven system 11 of the application passes through deceleration energy
Controller 14 is according to current settings benchmark IlevelAnd the drive signal V that motor driver 110 is exporteddCurrent value i
Between comparative result, and Active Compensation drive signal VdMagnitude of voltage v, to control and the consumption of motor-driven system 11 motor 16 institute
The related current value i of the ability of the recharge electric energy of generation, while the Active Compensation frequency values f by amount of frequency compensation △ f, makes steady
DC voltage V on voltage capacitance CcMagnitude of voltage allow current value i to reach current settings benchmark I enoughlevel, consequently, it is possible to this Shen
Motor-driven system 11 please is without additionally using brake gear, without the DC voltage V on additional detections electric capacity of voltage regulation Cc
And in the case that need not the sensing rotating speed of motor 16 be additionally set, you can produced by the lifting consumption motor 16 of motor-driven system 11
Recharge electric energy ability so that motor-driven system 11 is down to speed faster and is set with open loop control mode control motor 16
Constant speed degree, such as motor 16 are down to setting speed by only needing 4-12 seconds, therefore compared to prior art without external brake dress
The motor-driven system put needs just to be able within 40 seconds be decelerated to stopping by rated speed, and the motor-driven system 11 of the application is controllable
Motor processed 16 is down to setting speed with speed faster.
In sum, the application provides a kind of motor retarding method and its applicable motor-driven system, and it subtracts in motor
During speed, offset voltage and compensation frequency are exported according to a current settings benchmark by deceleration energy controller, to change
Motor driver is exported to the magnitude of voltage and frequency values of the drive signal of motor, make whereby motor rotating speed can relatively rapid under
Setting speed is down to, while lifting the ability of the motor-driven system consumption motor recharge electric energy produced when slowing down.Be with
The motor retarding method and its applicable motor-driven system of the application and the value of the great industry of deceleration energy controller, hence according to
Method is filed an application.
The present invention arbitrarily can carry out various changes and improvement by those of ordinary skill in the art with ingenious design, so
And without departure from appended claims scope required for protection.
Symbol description
1：The motor-driven system of prior art
2：AC power
3、16：Motor
4：Motor driver
5：Brake gear
11：Motor-driven system
15：Three-phase alternating-current supply
Vac：Input voltage
Vd：Drive signal
12：Current sensor
13：Master controller
14：Deceleration energy controller
142：Current controller
143：Frequency compensator
110：Motor driver
111：Rectification circuit
113：Transverter
v：Magnitude of voltage
i：Current value
f：Frequency values
C：Electric capacity of voltage regulation
Vc：DC voltage
Sa：Control signal
Tdec：Deceleration time setting value
Si：Current detection signal
Ilevel：Setting electric current benchmark
△V：Voltage compensation quantity
△f：Amount of frequency compensation
S1~S3：The operating process of the motor-driven system of the application
t0：Initial time point
t1：First time point
t2：Second time point
t3：3rd time point
tr：Specific time point
t1’：Default time point
Claims (12)
1. the control method that a kind of motor slows down, is applied to a motor-driven system, and wherein the motor-driven system is used to drive
One motor is operated, and comprising a motor driver, a current sensor and a deceleration energy controller, the motor driver bag
An electric capacity of voltage regulation containing a transverter and the input for being electrically connected to the transverter, the transverter is used to export with a voltage
One drive signal of value, a frequency values and a current value and control the motor to operate, the motor method for slowing-down control includes down
Row step：
A () is when the motor reduces speed now according to the magnitude of voltage and the frequency of a deceleration time set value calculation drive signal
The fall off rate of value；
B () compares the setting electricity that the current value that is detected by the current sensor and the deceleration energy controller are received
Stream benchmark, makes the deceleration energy controller export a voltage compensation quantity according to comparative result, is adjusted with by the voltage compensation quantity
The magnitude of voltage rises, make the current value to should magnitude of voltage increase and lifted towards the setting electric current benchmark, and the deceleration energy
Controller also exports an amount of frequency compensation and controls the frequency values, with the electric energy by the motor recharge to the motor-driven system come
Adjust the DC voltage on the electric capacity of voltage regulation, make the magnitude of voltage be promoted to be sufficient for the current value rise to equal to the setting electricity
Stream benchmark is simultaneously maintained；And
C (), should when the amount of frequency compensation and the voltage compensation quantity cannot be such that current value is maintained at equal to the setting electric current benchmark
Deceleration energy controller system makes the voltage compensation quantity be decremented to zero, so that the rotating speed of the motor drops to a setting speed；
Wherein in step (c), when the amount of frequency compensation cannot be such that the current value is maintained at equal to the setting electric current benchmark, should
Amount of frequency compensation declines, and the fall off rate of the frequency values is accelerated, to increase the electricity of the motor recharge to the motor-driven system
Can, wherein the fall off rate of the frequency values is less than or equal to the decline of the frequency values adjusted according to the deceleration time setting value
Speed.
2. control method as claimed in claim 1, wherein in step (b), the setting is reached when the current value does not rise to
During current reference, the voltage compensation quantity gradually increases.
3. control method as claimed in claim 1, wherein in step (b), setting electricity is reached when the current value rises to
During stream benchmark, the voltage compensation quantity stops increasing.
4. control method as claimed in claim 1, wherein in step (b), the setting is reached when the current value does not rise to
During current reference, the amount of frequency compensation declines, and the fall off rate of the frequency values is accelerated, and the fall off rate of the wherein frequency values is small
In or equal to the fall off rate of the frequency values that is adjusted according to the deceleration time setting value.
5. control method as claimed in claim 1, wherein in step (b), setting electricity is reached when the current value rises to
During stream benchmark, amount of frequency compensation lifting makes the fall off rate of the frequency values slow down.
6. control method as claimed in claim 1, the wherein setting electric current benchmark is the volume set by the motor driver
Determine the percent value of current value.
7. a kind of motor-driven system, is used to control a motor to operate, and the motor-driven system is included：
One transverter, it is electrically connected with the motor, is used to export a drive signal and drive the motor to operate, wherein driving letter
Number it is with a magnitude of voltage, a current value and a frequency values；
One electric capacity of voltage regulation, its input for being electrically connected to the transverter；
One current sensor, it electrically connects with the output end of the transverter and senses the current value, and correspondence output one electric current inspection
Survey signal；
One master controller, it is electrically connected with the transverter, is used to export a control signal and is controlled the transverter to operate；And
One deceleration energy controller, it is electrically connected with the current sensor and the master controller, in the main controller controls
The motor compares a setting electric current benchmark and the current detection signal when reducing speed now, accordingly to export a voltage compensation quantity extremely
The master controller, makes the master controller accordingly control the magnitude of voltage of the transverter to rise, to drive the current value to be set towards this
Determine current reference lifting, and the deceleration energy controller also exports an amount of frequency compensation to the master control when the motor reduces speed now
Device processed, makes the master controller accordingly control the transverter to change the frequency values, with by changing the motor recharge to the motor
The electric energy of drive system and adjust the DC voltage on the electric capacity of voltage regulation, rise to the magnitude of voltage and order about the current value and reach
The setting electric current benchmark is simultaneously maintained；
Wherein, when the amount of frequency compensation and the voltage compensation quantity cannot make the current value be maintained at the setting electric current benchmark, should
Voltage compensation quantity is decremented to zero, the rotating speed of the motor is dropped to a setting speed；And
When the amount of frequency compensation cannot be such that the current value is maintained at equal to the setting electric current benchmark, the amount of frequency compensation declines,
The fall off rate of the frequency values is set to accelerate, to increase the electric energy of the motor recharge to the motor-driven system.
8. motor-driven system as claimed in claim 7, wherein the deceleration energy controller also include a current controller, its
Electrically connected with the current sensor, and the setting electric current benchmark and the current detection signal received when the motor reduces speed now,
Accordingly to export the voltage compensation quantity.
9. motor-driven system as claimed in claim 8, wherein when the motor reduces speed now and the current value does not rise to and reaches
During to the setting electric current benchmark, the current controller controls the voltage compensation quantity gradually to increase.
10. motor-driven system as claimed in claim 9, wherein when the motor reduces speed now and the current value rises to and reaches
During the setting electric current benchmark, the current controller controls the voltage compensation quantity to stop increasing.
11. motor-driven systems as claimed in claim 7, wherein the deceleration energy controller also include a frequency compensator,
It is electrically connected with the master controller, to export the amount of frequency compensation when the motor slows down.
12. motor-driven systems as claimed in claim 11, wherein when the motor reduces speed now and the current value does not rise to
When reaching the setting electric current benchmark, the frequency compensator controls the amount of frequency compensation to decline, and becomes the fall off rate of the frequency values
Hurry up.
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| US201461944162P | 2014-02-25 | 2014-02-25 | |
| US61/944,162 | 2014-02-25 |
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| TWI612766B (en) * | 2016-07-22 | 2018-01-21 | 祥誠科技股份有限公司 | Motor control system |
| TWI584572B (en) * | 2016-08-31 | 2017-05-21 | 茂達電子股份有限公司 | Motor driving apparatus |
| CN111775718B (en) * | 2020-06-29 | 2021-07-27 | 华中科技大学 | Electric carrier and motor braking and stopping method thereof |
| CN114108143B (en) | 2020-08-31 | 2023-04-28 | 台达电子工业股份有限公司 | Motor driving system and motor driving method |
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| US9246432B2 (en) * | 2011-02-14 | 2016-01-26 | Beckman Coulter, Inc. | Regenerative braking safety system and method of use |
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| CN1128709A (en) * | 1994-09-01 | 1996-08-14 | 株式会社日立制作所 | Device for controlling electric vehicle |
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| CN104868798A (en) | 2015-08-26 |
| TWI523405B (en) | 2016-02-21 |
| TW201534044A (en) | 2015-09-01 |
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